Multidirectional Pollishing Path Planning Oriented For Surface Polishing

Polishing path planning is a critical part of automatic polishing technology,and reasonable polishing path planning is the key to get machining surface of high quality.Because movement model of tool path is single,traditional tool path planning methods for curved surface polishing can easily lead to uneven polishing material removal and reduce surface quality of polishing workpiece.Curved surface polishing process request that polishing path is covered on the curved surface completely,evenly and multidirectionally.To solve the problems above,multidirectional polishing movement model for surface polishing is proposed in this paper,and tool path planning is implemented with 3D mesh surface parameterization algorithm.According to mapping deformation relation of conformal parameterization and theoretical model of polishing process,parameters of multidirectional polishing movement model are adjusted to achieve the goal of controlling polishing precision.The content of this paper mainly includes:(1)A path planning method based on mesh surface parameterization is proposed for 3D polishing path generation problem.Tool path planning of polishing movement model on 3D mesh surface is implemented with conformal parameterization algorithm.Conformal parameterization algorithm firstly transforms the 3D mesh surface to the planar parameter domain,and then tool path of polishing movement model is generated in the planar parameter domain,and finally the generated path is mapped back to the 3D mesh surface.(2)Multidirectional polishing movement models for surface polishing are established.Based on the mathematical definition of multidirectional polishing movement models,path parameters are analyzed and parameterized models are built.Models include cosine model,constant radius cycloid model and variable radius cycloid model.2D path parameters are adjusted by mapping deformation coefficient to reduce deformation of 3D path parameters.(3)Path parameters and process parameters of each multidirectional polishing movement model are optimized based on theoretical model of polishing process.To make polishing material removal depth more uniform,parameters are optimized and polishing path is simulated by material removal depth model between disk polishing tool and curved surface workpiece.(4)The process effect of multidirectional polishing path is validated by robot polishing experiments.Experiments of scanning path,circular path and multidirectional path on curved surface are carried out,and surface roughness parameters are measured.Polishing process effect of each path is compared and analyzed to validate the advantage of proposed multidirectional polishing path.